U.S. patent application number 15/994593 was filed with the patent office on 2018-12-27 for multiple energy source guidance system and method for drones.
The applicant listed for this patent is Walmart Apollo, LLC. Invention is credited to Michael D. Atchley, Robert L. Cantrell, Donald R. High, Nathan G. Jones, Brian G. McHale, John J. O'Brien, David C. Winkle.
Application Number | 20180370654 15/994593 |
Document ID | / |
Family ID | 64691402 |
Filed Date | 2018-12-27 |
United States Patent
Application |
20180370654 |
Kind Code |
A1 |
Cantrell; Robert L. ; et
al. |
December 27, 2018 |
MULTIPLE ENERGY SOURCE GUIDANCE SYSTEM AND METHOD FOR DRONES
Abstract
When a first laser beam and a second laser beam are directed to
the volume of space, an aerial drone is configured to lock onto the
first laser beam using a first sensor, and to utilize the first
laser beam to guide the drone to an accurate landing at a landing
site. The aerial drone is further configured to lock onto the
second laser beam using a second sensor, to determine a
relationship between the first laser beam and the second laser
beam, and to utilize the relationship to adjust the tilt of the
aerial drone, the orientation of the aerial drone, the speed
differential between the aerial drone and the landing site, and/or
the alignment of a portion of the drone with a portion of the
landing site when making the landing.
Inventors: |
Cantrell; Robert L.;
(Herndon, VA) ; High; Donald R.; (Noel, MO)
; McHale; Brian G.; (Chadderton Oldham, GB) ;
Winkle; David C.; (Bella Vista, AR) ; Atchley;
Michael D.; (Springdale, AR) ; O'Brien; John J.;
(Farmington, AR) ; Jones; Nathan G.; (Bentonville,
AR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Walmart Apollo, LLC |
Bentonville |
AR |
US |
|
|
Family ID: |
64691402 |
Appl. No.: |
15/994593 |
Filed: |
May 31, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
62522938 |
Jun 21, 2017 |
|
|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B64F 1/20 20130101; B64C
2201/208 20130101; G01S 3/789 20130101; G05D 1/042 20130101; G05D
1/0676 20130101; G06Q 10/083 20130101; B64C 2201/128 20130101; G01S
17/933 20130101; B64C 39/024 20130101; B64C 2201/18 20130101; B64C
2201/187 20130101 |
International
Class: |
B64F 1/20 20060101
B64F001/20; G05D 1/04 20060101 G05D001/04; B64C 39/02 20060101
B64C039/02; G06Q 10/08 20060101 G06Q010/08; G01S 3/789 20060101
G01S003/789 |
Claims
1. A retail product delivery system that is configured to guide an
aerial drone configured to deliver one or more commercial products
to a customer through the use of two or more lasers, the system
comprising: a first laser device that is configured to transmit a
first laser beam, and a second laser device configured to transmit
a second laser beam; an aerial drone including a first sensor and a
second sensor and configured to carry and deliver the one or more
commercial products to the customer; a control circuit, the control
circuit configured to: transmit first instructions to the aerial
drone, the first instructions being effective to guide the aerial
drone to become positioned within a selected volume of space that
is within a predetermined distance of a landing site; and when the
aerial drone becomes positioned within the selected volume of
space, transmit second instructions to the first laser device to
direct the first laser beam within the volume of space and to
transmit third instructions to the second laser device to direct
the second laser beam within the volume of space; when the first
laser beam and the second laser beam are directed to the volume of
space, the aerial drone is configured to: lock onto the first laser
beam using the first sensor, and to utilize the first laser beam to
guide the drone to an accurate landing at the landing site; lock
onto the second laser beam using the second sensor; and determine a
relationship between the first laser beam and the second laser
beam, and utilize the relationship to adjust one or more of: a tilt
of the aerial drone when making a landing at the landing site, an
orientation of the aerial drone when making the landing, a speed
differential between the aerial drone and the landing site when
making the landing, and an alignment of a portion of the drone with
a portion of the landing site when making the landing.
2. The system of claim 1, wherein the relationship comprises a
distance and angular relation between the first sensor and the
second sensor.
3. The system of claim 1, wherein the landing site is one of: the
ground, a runway on a vehicle, or a second aerial drone.
4. The system of claim 1, wherein the alignment of a portion of the
drone with a portion of the landing site comprises an alignment
between a first docking port on the aerial drone with a second
docking port on a second aerial drone.
5. The system of claim 1, wherein communications are exchanged
between the aerial drone and the control circuit, the
communications being effective to coordinate locating the first
laser beam and the second laser beam when the control circuit at
the landing site is aware of the aerial drone, but the aerial drone
has not yet found the landing site.
6. The system of claim 1, wherein communications are exchanged
between the aerial drone and the control circuit, the
communications being effective to coordinate locating the first
laser beam and the second laser beam when the aerial drone is aware
of the landing site, but the control circuit has not yet found the
aerial drone.
7. The system of claim 1, wherein the first laser beam has a first
frequency and the second laser beam has a second frequency, and the
first frequency is different from the second frequency.
8. The system of claim 1 wherein the first laser beam comprises
first encoded information and the second laser beam comprises
second encoded information.
9. The system of claim 1 wherein the sensors comprise a device
selected from the group consisting of a matrix sensor, and sensors
on a ring.
10. The system of claim 1, wherein the control circuit is disposed
at a location selected from the group consisting of: a central
processing location, the aerial drone, and both at the aerial drone
and at a central processing location.
11. A method of guiding an aerial drone using two or more lasers,
the method comprising: configuring a first laser device to transmit
a first laser beam, and a second laser device to transmit a second
laser beam; configuring an aerial drone with a first sensor and a
second sensor; transmitting first instructions from a control
circuit to the aerial drone, the first instructions being effective
to guide the aerial drone to become positioned within a selected
volume of space that is within a predetermined distance of a
landing site; when the drone becomes positioned within the selected
volume of space, transmitting second instructions from the control
circuit to the first laser device to direct the first laser beam
within the volume of space and to transmit third instructions to
the second laser device to direct the second laser beam within the
volume of space; when the first laser beam and the second laser
beam are directed to the volume of space, the aerial drone is
configured to lock onto the first laser beam using the first
sensor, and to utilize the first laser beam to guide the drone to
an accurate landing at the landing site, the aerial drone being
further configured to lock onto the second laser beam using the
second sensor, the aerial drone being further configured to
determine a relationship between the first laser beam and the
second laser beam, and to utilize the relationship to adjust one or
more of: a tilt of the aerial drone when making a landing at the
landing site, an orientation of the aerial drone when making the
landing, a speed differential between the aerial drone and the
landing site when making the landing, and an alignment of a portion
of the drone with a portion of the landing site when making the
landing.
12. The method of claim 11, wherein the relationship comprises a
distance and angular relation between the first sensor and the
second sensor.
13. The method of claim 11, wherein the landing site is one of: the
ground, a runway on a vehicle, or a second aerial drone.
14. The method of claim 11, wherein the alignment of a portion of
the drone with a portion of the landing site comprises an alignment
between a first docking port on the aerial drone with a second
docking port on a second aerial drone.
15. The method of claim 11, further comprising exchanging
communications between the aerial drone and the control circuit,
the communications being effective to coordinate locating the first
laser beam and the second laser beam when the control circuit at
the landing site is aware of the aerial drone, but the aerial drone
has not yet found the landing site.
16. The method of claim 11, further comprising exchanging
communications between the aerial drone and the control circuit,
the communications being effective to coordinate locating the first
laser beam and the second laser beam when the aerial drone is aware
of the landing site, but the control circuit has not yet found the
aerial drone.
17. The method of claim 11, wherein the first laser beam has a
first frequency and the second laser beam has a second frequency,
and the first frequency is different from the second frequency.
18. The method of claim 11 wherein the first laser beam comprises
first encoded information and the second laser beam comprises
second encoded information.
19. The method of claim 11 wherein the sensors comprise a device
selected from the group consisting of a matrix sensor, and sensors
on a ring.
20. The method of claim 11, wherein the control circuit is disposed
at a location selected from the group consisting of: a central
processing location, the aerial drone, and both at the aerial drone
and at a central processing location.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application claims the benefit of the following U.S.
Provisional Application No. 62/522,938 filed Jun. 21, 2017, which
is incorporated herein by reference in its entirety.
TECHNICAL FIELD
[0002] These teachings relate generally to aerial drones and, more
specifically, to guiding the takeoffs and/or landings of these
drones using one or more directed energy sources.
BACKGROUND
[0003] Aerial drones are in use today and perform a variety of
functions. For example, aerial drones can be used to deliver
packages from a shipping source (such as a distribution center) to
a destination (such as a home). In other examples, aerial drones
can be equipped with cameras, and can be used for surveillance
purposes.
[0004] An aerial drone first takes off from a location, and later
must land at the same or a different location. These landing (or
waypoint) locations may be on the ground, on a moving vehicle, or
on another aerial drone (while the other aerial drone has landed on
the ground or in flight), to mention a few examples.
[0005] Drone take-offs and landings are activities that are often
difficult to accomplish. Drone accidents often times occur during
take-offs and landings due to wind, precipitation, or other
hazards. In these conditions, drones can deviate off-course and
crash into nearby buildings, people, or trees. In other examples,
the tilt or relative orientation of the drone can be less than
optimal, causing damage to the drone during take-offs and
landings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] The above needs are at least partially met through provision
of approaches that take actions relating to guiding aerial drones
during take-offs and landings particularly when studied in
conjunction with the drawings, wherein:
[0007] FIG. 1 comprises a diagram of a system as configured in
accordance with various embodiments of these teachings;
[0008] FIG. 2 comprises a flowchart as configured in accordance
with various embodiments of these teachings;
[0009] FIGS. 3A-E comprises a diagram of a system as configured in
accordance with various embodiments of these teachings;
[0010] FIG. 4 comprises a diagram of a system as configured in
accordance with various embodiments of these teachings;
[0011] FIG. 5 comprises a diagram of a system as configured in
accordance with various embodiments of these teachings;
[0012] FIG. 6 comprises a diagram of a system as configured in
accordance with various embodiments of these teachings; and
[0013] FIG. 7 comprises a diagram of a system as configured in
accordance with various embodiments of these teachings.
DETAILED DESCRIPTION
[0014] Generally speaking, many of these embodiments provide for a
system and method that utilize two or more energy sources (e.g.,
two directed laser beams) to navigate an aerial drone during
landings and/or take-offs. In one example and during a landing of
the drone, the drone is first navigated to the general area of the
landing site using conventional navigational approaches (e.g.,
using GPS or DGPS systems or approaches). Then, two laser beams are
directed from the landing area to the volume of space above the
landing area in which the aerial drone is operating or hovering.
Next, the drone uses one of the lasers to guide the drone to a safe
landing. The drone also determines and utilizes the spatial
relationship between the lasers to adjust the orientation (e.g.,
relative position and/or pitch) of the drone as needed during the
landing.
[0015] In many of these embodiments, a retail product delivery
system is configured to guide an aerial drone to deliver one or
more commercial products to a customer using two or more lasers (or
other directed energy sources). The system includes a first laser
device, a second laser device, an aerial drone, and a control
circuit.
[0016] The first laser device is configured to transmit a first
laser beam, and the second laser device is configured to transmit a
second laser beam. The aerial drone includes a first sensor and a
second sensor, and is configured to carry and deliver the one or
more commercial products to the customer.
[0017] The control circuit is configured to transmit first
instructions to the aerial drone. The first instructions are
effective to guide the aerial drone to become positioned within a
selected volume of space that is within a predetermined distance of
a landing site. The control circuit is configured to, when the
aerial drone becomes positioned within the selected volume of
space, transmit second instructions to the first laser device to
direct the first laser beam within the volume of space. The control
circuit is configured to transmit third instructions to the second
laser device to direct the second laser beam within the volume of
space.
[0018] When the first laser beam and the second laser beam are
directed to the volume of space, the aerial drone is configured to
lock onto the first laser beam using the first sensor, and to
utilize the first laser beam to guide the drone to an accurate
landing at the landing site. The aerial drone is configured to lock
onto the second laser beam using the second sensor. The aerial
drone is configured to determine a relationship between the first
laser beam and the second laser beam, and utilize the relationship
to adjust one or more of: a tilt of the aerial drone when making a
landing at the landing site, an orientation of the aerial drone
when making the landing, a speed differential between the aerial
drone and the landing site when making the landing, or an alignment
of a portion of the drone with a portion of the landing site when
making the landing.
[0019] In aspects, the relationship comprises a distance and
angular relation between the first sensor and the second sensor.
Other examples are possible.
[0020] In examples, the landing site is one of: the ground, a
runway on a vehicle, or a second aerial drone. Other examples are
possible.
[0021] In still other examples, the alignment of a portion of the
drone with a portion of the landing site comprises an alignment
between a first docking port on the aerial drone with a second
docking port on a second aerial drone. The docking port may be any
structure that facilitates a physical connection between two
drones.
[0022] In yet other examples, communications are exchanged between
the aerial drone and the control circuit. The communications are
effective to coordinate locating the first laser beam and the
second laser beam when the control circuit at the landing site is
aware of the aerial drone, but the aerial drone has not yet found
the landing site.
[0023] In yet other aspects, communications are also exchanged
between the aerial drone and the control circuit. In this case, the
communications are effective to coordinate locating the first laser
beam and the second laser beam when the aerial drone is aware of
the landing site, but the control circuit has not yet found the
aerial drone.
[0024] In aspects, the first laser beam has a first frequency and
the second laser beam has a second frequency. The first frequency
is different from the second frequency. In other aspects, the first
laser beam comprises first encoded information and the second laser
beam comprises second encoded information. In crowded environments
where many drones are operating, the encoding may be used to ensure
that the correct laser beam is captured and used by the correct
drone.
[0025] In some other examples, the sensors comprise a device such
as a matrix sensor, or sensors on a ring. Other examples are
possible.
[0026] In other examples, the control circuit is disposed at a
location such as at a central processing location, at the aerial
drone, or both at the aerial drone and at a central processing
location. Other examples and combinations are possible.
[0027] In others of these embodiments, a first laser device is
configured to transmit a first laser beam, and a second laser
device is configured to transmit a second laser beam. An aerial
drone is configured with a first sensor and a second sensor.
[0028] First instructions are transmitted from a control circuit to
the aerial drone. The first instructions are effective to guide the
aerial drone to become positioned within a selected volume of space
that is within a predetermined distance of a landing site.
[0029] When the drone becomes positioned within the selected volume
of space, second instructions are transmitted from the control
circuit to the first laser device to direct the first laser beam
within the volume of space. Third instructions are transmitted to
the second laser device to direct the second laser beam within the
volume of space.
[0030] When the first laser beam and the second laser beam are
directed to the volume of space, the aerial drone is configured to
lock onto the first laser beam using the first sensor, and to
utilize the first laser beam to guide the drone to an accurate
landing at the landing site. The aerial drone is further configured
to lock onto the second laser beam using the second sensor, to
determine a relationship between the first laser beam and the
second laser beam, and to utilize the relationship to adjust the
tilt of the aerial drone, the orientation of the aerial drone, the
speed differential between the aerial drone and the landing site,
and/or the alignment of a portion of the drone with a portion of
the landing site when making the landing.
[0031] Referring now to FIG. 1, one example of a system 100 for
guiding aerial drones during take-offs and/or landings is
described. The system includes a first laser device 102, a second
laser device 104, an aerial drone 106, and a control circuit
108.
[0032] The first laser device 102 is configured to transmit a first
laser beam 112, and the second laser device 104 is configured to
transmit a second laser beam 114. Although described herein as
being laser beams, it will be appreciated that any type of directed
energy source such as RF energy, or acoustic energy can be used.
Further, pressure readings, LED lighting, RFID beacons, WiFi
signals, sonar signals, and radar signals can be used. If lasers
are used, the laser beams may be visible or invisible to the human
eye. In addition, the laser devices 102 and 104 are shown as being
on the ground. In other examples, the devices 102 and 104 may be
located on a moving vehicle (e.g., an automated ground vehicle or
other drone). In yet other examples, the laser devices 102 and 104
are on the drone 106, and the sensors are at the landing site 117.
In still other examples, the laser devices 102 and 104 may be
located at a fixed based station (e.g., on a tower).
[0033] In aspects, the first laser beam 112 has a first frequency
and the second laser beam 114 has a second frequency. The first
frequency is different from the second frequency. In other aspects,
the first laser beam 112 comprises first encoded information and
the second laser beam 114 comprises second encoded information. The
laser beams 112, 114 may be shaped (and this may facilitate
determining the orientation of the drone 106) and a single laser
beam may be used if the laser is shaped. In other examples, the
laser beams can be emitted from a laser device that is configured
to rotate (e.g., as a rotating ball).
[0034] In specific examples, the color of the laser beams 112 and
114 can be adjusted, and/or the laser beams 112 and 114 may be
pulsed. If the laser beams 112 and 114 are pulsed, the pulsing may
occur in unique ways (e.g., timings or patterns) to allow the drone
to locate and lock onto a particular laser beam. The pulse may be
encoded with a unique identity or identifier that is used to
minimize errors thereby allowing multiple drones to operate in the
same vicinity (or in close proximity) where each drone operates
with, engages, or locks onto specifically selected and identified
laser beams. The encoding also provides a level of integrity to
minimize jamming attempts by unauthorized parties, thereby
increasing security of the system. In still other aspects, lasers
may be transmitted from the drone and the Doppler Effect can be
used to determine whether the drone is either moving toward or away
from the landing site to allow for flight adjustments to be
made.
[0035] The aerial drone 106 includes a first sensor 142 and a
second sensor 144, and is configured to carry and deliver the one
or more commercial products 120 to the customer. The sensors 142
and 144 are any type of device that can sense a laser beam. For
example, the sensors may be flat sensors divided into four
quadrants that sense the presence of a laser (or other directed
energy) beam. In still other examples, the sensors 142 and 144 are
structured as rings or elongated strips. Other types of structures
and configurations are possible for the sensors 142 and 144.
[0036] The control circuit 108 is disposed in the vicinity of the
landing area 101 in this example. In other examples, the control
circuit 108 may be disposed at the drone 106, or split between the
drone 106 and the ground. It will be appreciated that as used
herein the term "control circuit" refers broadly to any
microcontroller, computer, or processor-based device with
processor, memory, and programmable input/output peripherals, which
is generally designed to govern the operation of other components
and devices. It is further understood to include common
accompanying accessory devices, including memory, transceivers for
communication with other components and devices, etc. These
architectural options are well known and understood in the art and
require no further description here. The control circuit 108 may be
configured (for example, by using corresponding programming stored
in a memory as will be well understood by those skilled in the art)
to carry out one or more of the steps, actions, and/or functions
described herein.
[0037] The control circuit 108 is configured to transmit first
instructions to the aerial drone 106. The first instructions (e.g.,
including GPS coordinates) are effective to guide the aerial drone
106 to become positioned within a selected volume of space 115 that
is within a predetermined distance of a landing site 117. The
control circuit 108 is further configured to, when the aerial drone
106 becomes positioned within the selected volume of space 115,
transmit second instructions to the first laser device 102 in order
to direct the first laser beam 112 within the volume of space 115.
The control circuit 108 is still further configured to transmit
third instructions to the second laser device 104 in order to
direct the second laser beam 114 within the volume of space
115.
[0038] When the first laser beam 112 and the second laser beam 114
are directed to the volume of space 115, the aerial drone 106 is
configured to lock onto the first laser beam 112 using the first
sensor 142, and to utilize the first laser beam to guide the drone
to an accurate landing at the landing site 117. The aerial drone
106 is configured to lock onto the second laser beam using the
second sensor 144. The aerial drone is configured to determine a
relationship between the first laser beam 112 and the second laser
beam 114, and utilize the relationship to adjust one or more of: a
tilt of the aerial drone 106 when making a landing at the landing
site 117, an orientation of the aerial drone 106 when making the
landing, a speed differential between the aerial drone 106 and the
landing site 117 when making the landing, or an alignment of a
portion of the drone 106 with a portion of the landing site 117
when making the landing.
[0039] The relationship between the first laser beam 112 and the
second laser beam 114 can relate to a number of features. In some
aspects, the relationship comprises a distance and angular relation
between the first sensor 142 and the second sensor 144. Other
examples are possible.
[0040] The landing site 117 may be the ground, a runway on a
vehicle, or a second aerial drone. Other examples are possible. In
one example, the control circuit 108 is disposed at a location such
as at a central processing location 119 (and may communicate with
the laser devices 102 and 104 via a communication network 121). In
other examples, the control circuit 108 is located at the aerial
drone, or both at the aerial drone and at a central processing
location. Other examples and combinations are possible.
[0041] In examples, the alignment of a portion of the drone 106
with a portion of the landing site 117 comprises an alignment
between a first docking port on the aerial drone 106 with a second
docking port on a second aerial drone. The docking ports may be
structures by which the two aerial drones connect or attach to each
other.
[0042] In other examples, communications are exchanged between the
aerial drone 106 and the control circuit 108. The communications
are effective to coordinate locating the first laser beam 112 and
the second laser beam 114 when the control circuit 108 at the
landing site 117 (or at the central control center 119) is aware of
the aerial drone 106, but the aerial drone 106 has not yet found
the landing site 117. In yet other examples, communications are
also exchanged between the aerial drone 106 and the control circuit
108. In this case, the communications are effective to coordinate
locating the first laser beam 112 and the second laser beam 114
when the aerial drone 106 is aware of the landing site 117, but the
control circuit 108 has not yet found the aerial drone 106.
[0043] The examples described herein apply to drone landings, but
it will be appreciated that these approaches can also be applied to
take-offs. More generally, these approaches can be used for precise
guidance of drones in any aerial maneuver or movement.
[0044] Referring now to FIG. 2, one example of an approach for
landing an aerial drone is described. At step 202, a first laser
device is configured to transmit a first laser beam, and a second
laser device is configured to transmit a second laser beam. The
first and second laser beams may be of the same frequency, but in
other examples are of different frequencies (e.g., to enhance
measurement accuracy). In other examples, various types of encoded
information can be included in the laser beams. In specific
examples, the color of the laser beams can be adjusted, and the
laser beams may be pulsed. If the lasers are pulsed, the pulsing
may be in unique ways (e.g., timings or patterns) to allow the
drone to locate a laser. The pulse may be encoded with a unique
identity or identifier that is used to minimize errors thereby
allowing multiple drones to operate in the same vicinity where each
drone operates with specifically selected and identified laser
beams. The encoding also provides a level of integrity to minimize
jamming attempts by unauthorized parties, thereby increasing
security of the system.
[0045] At step 204, an aerial drone is configured with a first
sensor and a second sensor. The sensors may be configured or
structured in a variety of ways such as a matrix or as a ring.
Other examples are possible.
[0046] At step 206, first instructions are transmitted from a
control circuit to the aerial drone. The first instructions are
effective to guide the aerial drone to become positioned within a
selected volume of space that is within a predetermined distance of
a landing site. In examples, geographic coordinates and an altitude
are transmitted to the aerial drone and the drone flies to these
coordinates and altitude where the drone hovers.
[0047] At step 208 and when the drone becomes positioned within the
selected volume of space, second instructions are transmitted from
the control circuit to the first laser device to direct the first
laser beam within the volume of space. The first laser device is
constructed and structured so as to be able to aim its laser beam
so as to pass through volumes of space above the landing site.
[0048] At step 210, third instructions are transmitted to the
second laser device to direct the second laser beam within the
volume of space. As with the first laser device, the second laser
device is constructed so as to be able to aim its laser beam so as
to pass through volumes of space above the landing site.
[0049] At step 212, when the first laser beam and the second laser
beam are directed to the volume of space, the aerial drone locks
onto the first laser beam using the first sensor, and utilizes the
first laser beam to guide the drone to an accurate landing at the
landing site. In examples and when a four-quadrant matrix sensor is
used, the quadrant where the laser beam strikes the sensor
determines an adjustment of the landing of the drone. For instance,
if the beam strikes a certain quadrant, the aerial drone is
configured to move to the left. If the laser strikes or impacts
another quadrant, the drone is configured to move to the right as
it lands. In this way, adjustments to the position of the drone
when landing can be made.
[0050] At step 214, the aerial drone locks onto the second laser
beam using the second sensor. By "locking," it is meant that the
drone finds, receives, obtains, and/or senses a laser beam. In some
aspects, a drone may be assigned to one or more laser beams. In
examples, the drone may store identifiers that are associated with
particular laser beams. Laser beams are encoded with separate
identifiers such that the drone will compare the encoded identifier
to its stored predetermined identifier(s). If there is a match,
then the drone has found a correct laser beam and can then use the
laser beam as guidance in take-offs and landings as described
herein. If a match is not found, then the drone ignores the laser
beam.
[0051] At step 216, the aerial drone determines a relationship
between the first laser beam and the second laser beam. In
examples, the relationship is a distance and angular relation
between the first sensor and the second sensor. The distance
between the sensors may be fixed. Since the positions of the first
and second sensors relative to each other are known (e.g., these
may be programmed or stored at the drone), since the positions of
the laser devices emitting the laser beams are known (e.g., these
may be programmed or stored at the drone), and since the altitude
of the drone is known or can be ascertained (e.g., using an
altimeter or from information sent from the ground), then (as known
to those skilled in the art) mathematical and geometric
relationships can be used to calculate the angular relationship
between the first sensor (e.g., the drone is disposed parallel to
the ground so the angle is 180 degrees, or the drone is tilted at a
45 degree angle with respect to the ground).
[0052] The determined relationship is utilized to adjust a variety
of parameters. For instance, the tilt of the aerial drone when
making a landing at the landing site, the orientation of the aerial
drone when making the landing, the speed differential between the
aerial drone and the landing site when making the landing (e.g.,
when the landing site is a moving vehicle), and/or the alignment of
a portion of the drone with a portion of the landing site when
making the landing (e.g., a port on a drone is aligned with a port
on another drone when the landing site is the other drone) can all
be adjusted. By "alignment" it is meant that a certain portion of
the drone is facing a certain direction. For example, it may be
desirable that a "front" of a drone faces north.
[0053] Referring now to FIGS. 3A-3E, various drone operations are
described. As shown in FIG. 3A, a drone 302 is directed by a first
laser beam 304 and a second laser beam 306. In some examples, more
than two laser beams can be used. In yet other examples, a single
laser beam is used.
[0054] The laser beams 304 and 306 assist the landing of the drone
302 as described elsewhere herein. The drone 302 is guided to an
exact spot on a landing area (e.g., a tray, drawer or landing pad).
In examples, the laser beams 304 and 306 are eye safe and are
invisible to the human eye.
[0055] As shown in FIG. 3B, the laser beams 304 and 306 are shown
as being tilted with respect to the ground and/or the drone 302.
The laser devices producing the laser beams 304 and 306 tilt to
find the drone 302. In examples, once the first laser beam 304 hits
an optical tracker or sensor on the drone 302, the drone 302 and/or
the second laser beam 306 can change orientation to connect with or
sense the second laser beam 306. The orientation (e.g., certain
portions of the drone 302 face certain directions), tilt, roll, and
speed of the drone can be set. The drone 302 can land on the
ground, or on non-stationary objects (whether the object is moving
or at rest).
[0056] As shown in FIG. 3C, a laser sensing strip 308 positioned on
a bottom surface of the drone 308 is shown. The laser sensing strip
308 is of sufficient length to account for incidental tipping of
the drone (e.g., during high winds). The drone 302 communicates
altitude and attitude to the ground, in some aspects.
[0057] As shown in FIG. 3D, optical or pulse aimer aspects of the
present approaches are described. A broader optical aimer may be
used to establish where the drone is to assist the laser beams 304
and 306 in finding their targets. For example, the drone 302 may
utilize GPS coordinates (e.g., supplied by a GPS or DGPS system) to
navigate to a general area where one or more of the beams 304 and
306 locate the drone.
[0058] The drone 302 may also look or search for the laser beam
with a predetermined pulse pattern or for a beam that includes
other identification information. Once such a beam is located, then
the drone 302 may lock onto the beam and use the beam for guidance
in take-offs and/or landings. If the sensed beam does not include
the required identification information, then the beam can be
ignored.
[0059] As shown in FIG. 3E, the drone comes to a safe landing on a
landing area 310. In this example, the landing area may be on the
ground. Other examples of landing sites are possible.
[0060] Referring now to FIG. 4, one example of a drone landing on a
platform of an automated ground vehicle is described. An aerial
drone 402 hovers and lands on a platform 404 of an automated ground
vehicle 405 being guided in the landing by a first laser 406 and a
second laser 408. The landing occurs according to the approaches
described herein.
[0061] The drone 402 hovers close enough to the automated ground
vehicle 405 so that the platform 404 is raised upward in the
direction indicated by the arrow labeled 412. Once secure, the
platform 404 may be lowered in the directed indicated by the arrow
labeled 414. A flap 416 may be raised after the drone 402 is
secured to protect the drone 402, for example, from airflow as the
automated ground vehicle 405 moves. The flap 416 is moved in the
direction indicated by the arrow labeled 418.
[0062] Referring now to FIG. 5, one example of drone stacking is
described. A first aerial drone 502 hovers and lands on a second
drone 504, which itself has landed on a third drone 506. The drones
502, 504, and 506 stack on a surface of an automated ground vehicle
508 and are guided to landings by a first laser 510 and a second
laser 512. The landing occurs according to the approaches described
herein. A retractable bar 520 is connected to a clamp 522. The
clamp 522 is coupled to one of the drones to secure the stack of
drones from swaying and/or toppling.
[0063] Each of the drones 502, 504, and 506 may have ports. The
ports are structures or mechanisms that allow one drone to attach
to another drone. For instance, latches, hooks, or other mechanisms
can be used. Other examples are possible.
[0064] Referring now to FIG. 6, on example of a drone carrying the
lasers is described. In this example a drone 602 carries a first
laser device emitting a first laser beam 604 and a second laser
device emitting a second laser beam 606. The laser beams 604 and
606 are received at sensors 608 and 610 at a landing area 611. A
diffuser 605 (diffusing or spreading the laser beams) may help the
sensors 608, 610 locate the beams before the beams are
narrowed.
[0065] Referring now to FIG. 7, one example of a sensor 702, 704
that is deployed on an aerial drone is described. The sensor 702,
704 is divided into a first quadrant 706, a second quadrant 708, a
third quadrant 710, a fourth quadrant 712, and a central portion
714.
[0066] If both beams miss the sensors 702, 704 then the drone
re-locates to find one of the beams. If a beam finds the sensor
702, but not the sensor 704 then the drone spins to find the second
laser beam. If a beam finds the sensor 704, but not the sensor 702
then the drone spins to find the first laser beam. If both beams
are located and the orientation of drone is correct, the drone does
not have to move. If the incorrect laser beam is hitting the
incorrect sensor, then the orientation of the drone is off by 180
degrees and the drone may spin 180 degrees. Each sensor may be
programmed to receive a particular laser beam, so that when this
occurs the alignment of the drone will be known to be correct.
[0067] For one or both of the sensors 702, 704, the quadrant where
a laser beam enters and is sensed causes the drone to move in
certain ways or directions. To take one example, if the laser beam
enters the first quadrant 706, the drone moves right and forward.
If the laser beam enters the second quadrant 708, then the drone
moves left and forward. If the laser beam enters the third quadrant
710, then the drone moves right and backward. If the laser beam
enters the fourth quadrant 712, then the drone moves left and
backward. If the laser beam enters the central portion 714, the
drone does not move since this is the desired position.
[0068] Those skilled in the art will recognize that a wide variety
of modifications, alterations, and combinations can be made with
respect to the above described embodiments without departing from
the scope of the invention, and that such modifications,
alterations, and combinations are to be viewed as being within the
ambit of the inventive concept.
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